#ifndef _CONTROLLER_H
#define _CONTROLLER_H

#include <stdint.h>
#include "FOC_HardWare.h"
#include "FOC.h"

extern float EncoderSpeedLeft, EncoderSpeedRight;
extern float PWMSpeedLeft, PWMSpeedRight;
extern PidParam AnglePID_Param;
extern PidMax AnglePID_Max;
extern PidValue AnglePID_Val;
extern PidImprove AnglePID_Imp;
extern PidStruct AnglePID;
extern float Set_Speed;
extern float Turn_Error;
void ControllerHandler(void);
void ControllerInit(void);
void ControllerRun(void);
void MotorInit(void);
#endif
